EP3355241A3 - Détermination de la position d'un véhicule sur une voie - Google Patents

Détermination de la position d'un véhicule sur une voie Download PDF

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Publication number
EP3355241A3
EP3355241A3 EP18151068.6A EP18151068A EP3355241A3 EP 3355241 A3 EP3355241 A3 EP 3355241A3 EP 18151068 A EP18151068 A EP 18151068A EP 3355241 A3 EP3355241 A3 EP 3355241A3
Authority
EP
European Patent Office
Prior art keywords
vehicle
map
track
feature
recognised feature
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP18151068.6A
Other languages
German (de)
English (en)
Other versions
EP3355241A2 (fr
EP3355241B1 (fr
Inventor
Paul Hawkins
Luke Dodd
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sony Group Corp
Sony Europe BV
Original Assignee
Sony Europe Ltd
Sony Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sony Europe Ltd, Sony Corp filed Critical Sony Europe Ltd
Publication of EP3355241A2 publication Critical patent/EP3355241A2/fr
Publication of EP3355241A3 publication Critical patent/EP3355241A3/fr
Application granted granted Critical
Publication of EP3355241B1 publication Critical patent/EP3355241B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3815—Road data
    • G01C21/3822—Road feature data, e.g. slope data
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/11—Region-based segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
    • G08G1/13—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station the indicator being in the form of a map
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Navigation (AREA)
  • Image Processing (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
EP18151068.6A 2017-01-31 2018-01-10 Détermination de la position d'un véhicule sur une voie Active EP3355241B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB1701586.8A GB2559196B (en) 2017-01-31 2017-01-31 Determining a position of a vehicle on a track

Publications (3)

Publication Number Publication Date
EP3355241A2 EP3355241A2 (fr) 2018-08-01
EP3355241A3 true EP3355241A3 (fr) 2018-12-05
EP3355241B1 EP3355241B1 (fr) 2024-02-28

Family

ID=58462751

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18151068.6A Active EP3355241B1 (fr) 2017-01-31 2018-01-10 Détermination de la position d'un véhicule sur une voie

Country Status (4)

Country Link
US (1) US10788327B2 (fr)
EP (1) EP3355241B1 (fr)
CN (1) CN108375377B (fr)
GB (1) GB2559196B (fr)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10816354B2 (en) 2017-08-22 2020-10-27 Tusimple, Inc. Verification module system and method for motion-based lane detection with multiple sensors
US11009356B2 (en) * 2018-02-14 2021-05-18 Tusimple, Inc. Lane marking localization and fusion
US11009365B2 (en) * 2018-02-14 2021-05-18 Tusimple, Inc. Lane marking localization
WO2019185165A1 (fr) * 2018-03-30 2019-10-03 Toyota Motor Europe Système et procédé de réglage d'informations de position externe d'un véhicule
US11294060B2 (en) * 2018-04-18 2022-04-05 Faraday & Future Inc. System and method for lidar-based vehicular localization relating to autonomous navigation
CN111091066B (zh) * 2019-11-25 2023-09-22 重庆工程职业技术学院 一种自动驾驶汽车地面状态评定方法及系统
US11391577B2 (en) * 2019-12-04 2022-07-19 Pony Ai Inc. Dynamically modelling objects in map
CN111242919A (zh) * 2020-01-10 2020-06-05 成都协创信和科技有限公司 一种基于轨道路径上轨枕缺陷的绝对定位方法及定位系统
EP3893150A1 (fr) 2020-04-09 2021-10-13 Tusimple, Inc. Techniques d'estimation de pose de caméra
DE102021110237A1 (de) * 2021-04-22 2022-10-27 Bayerische Motoren Werke Aktiengesellschaft Vorrichtung und Verfahren zum Unterstützen eines Fahrers eines Kraftfahrzeugs beim Fahren auf einer vorbestimmten Rennstrecke

Citations (1)

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Publication number Priority date Publication date Assignee Title
EP3018448A1 (fr) * 2014-11-04 2016-05-11 Volvo Car Corporation Procédés et systèmes permettant d'améliorer le positionnement d'un véhicule

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US6065406A (en) * 1998-06-24 2000-05-23 Katzer; Matthew A. Model train control system
US6170402B1 (en) * 1999-04-21 2001-01-09 Universal City Studios, Inc. Roller coaster control system
DE19962788A1 (de) * 1999-10-29 2001-09-06 Wns Europ Gmbh Ortungssystem für Rennfahrzeuge
US6631322B1 (en) * 2002-12-06 2003-10-07 General Electric Co. Method and apparatus for vehicle management
JP4377284B2 (ja) * 2004-06-02 2009-12-02 株式会社ザナヴィ・インフォマティクス 車載ナビゲーション装置
JP4816124B2 (ja) * 2006-02-20 2011-11-16 株式会社デンソー 地図評価装置および地図評価方法
JP4724043B2 (ja) * 2006-05-17 2011-07-13 トヨタ自動車株式会社 対象物認識装置
US8117968B2 (en) * 2007-11-05 2012-02-21 Disney Enterprises, Inc. Magnetic pacer for controlling speeds in amusement park rides
US9862396B2 (en) * 2008-03-13 2018-01-09 General Electric Company System and method for determining a quality value of a location estimation of equipment
US8352111B2 (en) * 2009-04-06 2013-01-08 GM Global Technology Operations LLC Platoon vehicle management
US8791996B2 (en) * 2010-03-31 2014-07-29 Aisin Aw Co., Ltd. Image processing system and position measurement system
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GB201104168D0 (en) * 2011-03-11 2011-04-27 Life On Show Ltd Information capture system
JP5732340B2 (ja) * 2011-07-21 2015-06-10 株式会社日立製作所 地図データ配信サーバ、地図データ配信システム及び地図データ配信方法
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EP3018448A1 (fr) * 2014-11-04 2016-05-11 Volvo Car Corporation Procédés et systèmes permettant d'améliorer le positionnement d'un véhicule

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Title
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HENNING LATEGAHN: "Mapping and Localization in Urban Environments Using Cameras", 16 March 2013 (2013-03-16), XP055424653, Retrieved from the Internet <URL:https://d-nb.info/1046884050/34> [retrieved on 20171114] *
ZHANG GUANGCONG ET AL: "Good features to track for visual SLAM", 2015 IEEE CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION (CVPR), IEEE, 7 June 2015 (2015-06-07), pages 1373 - 1382, XP032793591, DOI: 10.1109/CVPR.2015.7298743 *

Also Published As

Publication number Publication date
CN108375377A (zh) 2018-08-07
CN108375377B (zh) 2023-01-03
GB2559196B (en) 2021-11-17
US20180216943A1 (en) 2018-08-02
GB2559196A (en) 2018-08-01
EP3355241A2 (fr) 2018-08-01
US10788327B2 (en) 2020-09-29
EP3355241B1 (fr) 2024-02-28
GB201701586D0 (en) 2017-03-15

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